2020
* Necoara, I. and Ionescu, T.C., 2020. H2 model reduction of linear network systems by moment matching and optimization. IEEE Transactions on Automatic Control, ISSN 0018-9286, to appear December 2020
* Baracu, T., Patrascu, M., Teodosiu, C., Birsan, M.V., Gheorghian, A., Streche, C., Bosneagu, R., …, Galeano, G.C., 2020. Deterministic matrix-based radiative design using a new general formulation of exergy and exergy efficiency for hybrid solar collectors. Applied Thermal Engineering, in press.
* Constantinescu V., Patrascu M. 2020. Performance Analysis of Genetic Algorithms for Route Computation Applied to Emergency Vehicle in Uncertain Traffic, UPB Scientific Bulletin, Series C: Electrical Engineering, 82, is. 1, pp. 167-178
* Patrascu A., Patrascu M. 2020. AI and Individualized Education in Phys Ed and Sport. Revolutionizing Education in the Age of AI and Machine Learning (Ed. M.K.Habib), Series Advances in Educational Technologies and Instructional Design (AETID) (pp. 26-49), IGI Global
2019
* Ion, A. and Patrascu, M., 2019, June. A Scalable Algorithm for Self-Organization in Event-Triggered Networked Control Systems. In 2019 18th European Control Conference (ECC) (pp. 2725-2730). IEEE.
* Necoara, I. and Ionescu, T.C., 2019, June. Parameter selection for best H2 moment matching-based model approximation through gradient optimization. In 2019 18th European Control Conference (ECC) (pp. 2301-2306). IEEE.
* Ionescu, T.C., Iftime, O.V. and Zhong, Q.C., 2019, June. Model reduction by moment matching: case study of a FIR system. In 2019 18th European Control Conference (ECC) (pp. 2319-2324). IEEE.
* Popescu, D., Stoican, F., Stamatescu, G., Chenaru, O. and Ichim, L., 2019. A Survey of Collaborative UAV–WSN Systems for Efficient Monitoring. Sensors, 19(21), p.4690.
* Stoican, F. and Irofti, P., 2019. Aiding Dictionary Learning Through Multi-Parametric Sparse Representation. Algorithms, 12(7), p.131.
* Stoican, F., Popescu, D. and Ichim, L., 2019, July. Some comments on the constrained trajectory generation for UAV systems. In 2019 27th Mediterranean Conference on Control and Automation (MED) (pp. 470-475). IEEE.
* Stoica, A.M., Chelaru, T.V., Stoican, F. and Ciubotaru, B.D., 2019. A Kalman Filtering Approach for Systems Subject to Parametric Modeling Uncertainties. IFAC-PapersOnLine, 52(12), pp.400-404.
* Ioan, D., Olaru, S., Niculescu, S.I., Prodan, I. and Stoican, F., 2019, June. Navigation in a multi-obstacle environment. from partition of the space to a zonotopic-based MPC. In 2019 18th European Control Conference (ECC) (pp. 1772-1777). IEEE.
* Popescu, D., Stoican, F., Ichim, L., Stamatescu, G. and Dragana, C., 2019, September. Collaborative UAV-WSN System for Data Acquisition and Processing in Agriculture. In 2019 10th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications (IDAACS) (Vol. 1, pp. 519-524). IEEE.
* Popescu, D., Ichim, L., Stoican, F. and Dragana, C., 2019, October. Hierarchical Processing of Signals for Smart Crop Monitoring. In 2019 8th International Conference on Systems and Control (ICSC) (pp. 265-270). IEEE.
* Stoican, F., Prodan, I., Grøtli, E.I. and Nguyen, N.T., 2019, July. Inspection Trajectory Planning for 3D Structures under a Mixed-Integer Framework. In 2019 IEEE 15th International Conference on Control and Automation (ICCA) (pp. 1349-1354). IEEE.
* Ioan, D., Olaru, S., Prodan, I., Stoican, F. and Niculescu, S.I., 2019, July. Parametrized hyperplane arrangements for control design with collision avoidance constraints. In 2019 IEEE 15th International Conference on Control and Automation (ICCA) (pp. 1591-1596). IEEE.
* Ioan, D., Prodan, I., Stoican, F., Olaru, S. and Niculescu, S.I., 2019, July. Complexity bounds for obstacle avoidance within a zonotopic framework. In 2019 American Control Conference (ACC) (pp. 335-340). IEEE.
* Seron, M.M., Olaru, S., Stoican, F., De Doná, J.A. and Kofman, E.J., 2019, November. On Finitely Determined Minimal Robust Positively Invariant Sets. In 2019 Australian & New Zealand Control Conference (ANZCC) (pp. 157-162). IEEE.
* Ioan, D., Olaru, S., Prodan, I., Stoican, F. and Niculescu, S.I., 2019. From Obstacle-Based Space Partitioning to Corridors and Path Planning. A Convex Lifting Approach. In 2019 IEEE 58th Conference on Decision and Control (CDC) (pp. 8061-8066) & IEEE Control Systems Letters, 4(1), pp.79-84.
* Prodan I., Stoican F., and Loumbet C. 2019. Necessary and sufficient LMI conditions for constraints satisfaction within a B-spline framework. In 2019 IEEE 58th Conference on Decision and Control (CDC) (pp. 8061-8066). IEEE.
2018
* Patrascu M., 2018. Design of Semi-active Seismic Vibration Controllers using Fuzzy Logic and Evolutionary Optimization. Soft-Computing-Based Nonlinear Control Systems Design (Eds. U.P.Singh, A.Tiwari, R.K.Singh), Series Advances in Computer and Electrical Engineering (ACEE), pp. 18-43, IGI Global
* Ionescu T.C., Patrascu M., 2018. Control Systems for Time Delay Processes. Politehnica Press, Bucharest
* Patrascu M., Baracu T., Badescu V., Birsan M.V., Teodosiu C., Degeratu M., Avram E.R., Udrea M., Calancea L. and Mesteru C., 2018. Modeling air leakage in buildings caused by the cyclic variation of the atmospheric pressure. Building Services Engineering Research and Technology, p.0143624417749536
* Patrascu M., 2018. Design of Semi-Active Seismic Vibration Controllers Using Fuzzy Logic and Evolutionary Optimization. In Soft-Computing-Based Nonlinear Control Systems Design (pp. 18-43), IGI Global
* Dumitrache A., Frunzulica F., Preotu O. and Ionescu T., 2018. Thrust and jet directional control using the Coanda effect. INCAS Bulletin, 10(2)
* Dumitrache A., Frunzulica F. and Ionescu T., 2018. Coanda Effect On The Flows Through Ejectors And Channels. Scientific Research & Education in the Air Force-AFASES
* Patrascu M., Ionescu T.C., Stoican F. 2018. Control Systems for Mobile Robots. Politehnica Press, Bucharest
* Badescu V., Baracu T., Avram R., Grigore R. and Patrascu M., 2018. On the design and optimization of constructal networks of heat exchangers by considering entropy generation minimization and thermoeconomics. Proceedings of the Romanian Academy Series A, vol. 19, special issue, pp. 273–278
2017
* Ioan D.M., Stoican F. and Worthmann K., 2017, October. Active fault detection and isolation in a zonotopic framework. In System Theory, Control and Computing (ICSTCC), 2017 21st International Conference on (pp. 595-600). IEEE
* Marica I. and Patrascu M., 2017, September. A geno-neural approach to data fusion for fixed infrared sensor arrays. In Networking in Education and Research (RoEduNet), 2017 16th RoEduNet Conference (pp. 1-5). IEEE
*Barbulescu V., Marica I., Gheorghe V., Nistor M. and Patrascu M., 2017, September. Encoder-based path tracking with adaptive cascaded control for a three omni-wheel robot. In Networking in Education and Research (RoEduNet), 2017 16th RoEduNet Conference (pp. 1-6). IEEE
* Chenaru O., Popescu D., Enache D., Ichim L. and Stoican F., 2017, July. Improving operational security for web-based distributed control systems in wastewater management. In Control and Automation (MED), 2017 25th Mediterranean Conference on (pp. 1089-1093). IEEE
* Stoican F., Prodan I., Popescu D. and Ichim L., 2017, July. Constrained trajectory generation for UAV systems using a B-spline parametrization. In Control and Automation (MED), 2017 25th Mediterranean Conference on (pp. 613-618). IEEE
* Patrascu M., Patrascu A. and Beres I., 2017, May. An immune evolution mechanism for the study of stress factors in supervised and controlled systems. In Evolving and Adaptive Intelligent Systems (EAIS), 2017 (pp. 1-8). IEEE
* Constantinescu V. and Patrascu M., 2017, May. Route encoding in evolutionary control systems for emergency vehicles. In ITS Telecommunications (ITST), 2017 15th International Conference on (pp. 1-5). IEEE
*Patrascu M. and Ion A., 2017, May. Self-Adaptation in Genetic Algorithms for Control Engineering: The Case of Time Delay Systems. In Control Systems and Computer Science (CSCS), 2017 21st International Conference on (pp. 19-25). IEEE
* Ion A. and Patrascu M., 2017. Agent Based Modelling of Smart Structures: The Challenges of a New Research Domain. In Modeling and Simulation Techniques in Structural Engineering (pp. 38-60). IGI Global
* Dumitrache A., Pricop M.V., Niculescu M.L., Cojocaru M.G. and Ionescu T., 2017. Design And Analysis Methods For UAV Rotor Blades. Scientific Research & Education in the Air Force-AFASES, 1
* Baracu T., Badescu V., Teodosiu C., Degeratu M., Patrascu M. and Streche C., 2017. Consideration of a new extended power law of air infiltration through the building’s envelope providing estimations of the leakage area. Energy and Buildings, 149, pp.400-423
* Ionescu T.C. and Necoara I., 2017. A scalable moment matching-based model reduction technique of linear networks. IFAC-PapersOnLine, 50(1), pp.8232-8237
* Thinh N.N., Prodan I., Stoican F. and Lefevre L., 2017. Reliable nonlinear control for quadcopter trajectory tracking through differential flatness. IFAC-PapersOnLine, 50(1), pp.6971-6976
* Irofti P. and Stoican F., 2017. Dictionary learning strategies for sensor placement and leakage isolation in water networks. IFAC-PapersOnLine, 50(1), pp.1553-1558
* Irofti P. and Stoican F., 2017. Dictionary Learning Applications in Control Theory. Recent Advances in Artificial Intelligence
* Popescu D., Ichim L. and Stoican F., 2017. Unmanned aerial vehicle systems for remote estimation of flooded areas based on complex image processing. Sensors, 17(3), p.446
2016
* Popescu D., Ichim L., Gornea D. and Stoican F., 2016, October. Complex image processing using correlated color information. In International Conference on Advanced Concepts for Intelligent Vision Systems (pp. 723-734). Springer, Cham
* Stoican C., Popescu D.C. and Patrascu M., 2016, September. Development of a data acquisition and command board for the control of a didactic 3D crane system. In RoEduNet Conference: Networking in Education and Research, 2016 15th (pp. 1-6). IEEE
* Schulze P., Ionescu T.C. and Scherpen J.M., 2016, June. Families of moment matching-based reduced order models for linear descriptor systems. In Control Conference (ECC), 2016 European (pp. 1964-1969). IEEE
* Stoican F., Ivănuşcă V.M., Prodan I. and Popescu D., 2016, June. Obstacle avoidance via B-spline parametrizations of flat trajectories. In Control and Automation (MED), 2016 24th Mediterranean Conference on (pp. 1002-1007). IEEE
* Patrascu A., Ungureanu A., Patrascu M., Dragoicea M. and Hantiu I., 2016. MOTION-AE: an intelligent mobile application for aerobic endurance training. International Journal of Artificial Intelligence™, 14(2), pp.42-59
* Ion A., Constantinescu V., Patrascu M. and Dragoicea M., 2016. A Scalable Agent Based Model for Building Security Simulation. International Journal of Artificial Intelligence™, 14(1), pp.94-111
* Patrascu M. and Ion A., 2016. Evolutionary Modeling of Industrial Plants and Design of PID Controllers. In Nature-inspired computing for control systems (pp. 73-119). Springer, Cham
* Ionescu T.C. and Astolfi A., 2016. Nonlinear moment matching-based model order reduction. IEEE Transactions on Automatic Control, 61(10), pp.2837-2847
* Ionescu T.C., 2016. Two-Sided Time-Domain Moment Matching for Linear Systems. IEEE Trans. Automat. Contr., 61(9), pp.2632-2637
* Prodan I., Stoican F. and Grøtli E.I., 2016. Some remarks on potential field constructions in a multi-obstacle environment. IFAC-PapersOnLine, 49(23), pp.28-33
* Stanković N., Stoican F., Olaru, S. and Niculescu, S.I., 2016. Fault tolerant control design for a class of multi‐sensor networked control systems. International Journal of Adaptive Control and Signal Processing, 30(2), pp.412-426
* Popescu D., Stoican F. and Ichim L., 2016. Control and optimization of UAV trajectory for aerial coverage in photogrammetry applications. Advances in Electrical and Computer Engineering, 16(3), pp.99-106
* Stoican F. and Popescu D., 2016. Trajectory generation with way-point constraints for UAV systems. In Advances in Robot Design and Intelligent Control (pp. 379-386). Springer, Cham
2015
* Patrascu M., Ion A. and Constantinescu V., 2015, December. Agent based simulation applied to the design of control systems for emergency vehicles access. In ITS Telecommunications (ITST), 2015 14th International Conference on (pp. 50-54). IEEE
* Ion A., Patrascu M. and Constantinescu V., 2015, December. Genetic decision mechanism for reasoning and behaviour generation in adaptive intelligent agents. In Evolving and Adaptive Intelligent Systems (EAIS), 2015 IEEE International Conference on (pp. 1-8). IEEE
* Ion A., Constantinescu V. and Patrascu M., 2015, November. An Agent Based Simulation Model Applied to Emergency Vehicles in High Traffic Urban Environments. In 2015 Annual Global Online Conference on Information and Computer Technology (GOCICT) (pp. 104-108). IEEE
* Stoican F., Popescu D., Vlăsceanu E. and Mateescu C., 2015, October. Geometrical considerations for photogrammetry missions in an UAV context. In 2015 19th International Conference on System Theory, Control and Computing (ICSTCC) (pp. 765-769). IEEE
* Calciu I., Vasilescu L.M., Drăghici A., Rosner D. and Pătraşcu M., 2015, September. Three omni-wheel ballbot optimum implementation. In RoEduNet International Conference-Networking in Education and Research (RoEduNet NER), 2015 14th (pp. 223-227). IEEE
* Ionescu T.C. and Iftime O.V., 2015, July. On moment matching of transfer functions and their derivatives. In Control Conference (ECC), 2015 European (pp. 340-344). IEEE
* Stoican F., Prodan I. and Popescu D., 2015, June. Flat trajectory generation for way-points relaxations and obstacle avoidance. In Control and Automation (MED), 2015 23th Mediterranean Conference on (pp. 695-700). IEEE
* Ion A., Berceanu C. and Patrascu M., 2015. Applying Agent Based Simulation to the Design of Traffic Control Systems with Respect to Real-World Urban Complexity. In Multi-Agent Systems and Agreement Technologies (pp. 395-409). Springer, Cham
* Drăgoicea M., e Cunha J.F. and Pătraşcu M., 2015. Self-organising socio-technical description in service systems for supporting smart user decisions in public transport. Expert Systems with Applications, 42(17-18), pp.6329-6341
* Patrascu M., Ion A., 2015.Seismic Vibration Control with Semi-active Dampers (book, in Romanian). Matrix Rom, Bucuresti, ISBN 978-606-250-151-8
* Dragoicea M., Chera C., Patrascu M. 2015. Value Co-Creation In A Virtual Smart Building Service Enterprise For Energy Efficiency And Economic Sustainability. Environmental Engineering and Management Journal, vol. 14, no. 5, Pages 1183-1194
* Patrascu A., Patrascu M., Hanţiu I. and Văidăhăzan R.C., 2015. Intelligent Decision Making Tool For Aiding The Setting Of Optimal Intensity In Aerobic Endurance Training. Studia Universitatis Babes-Bolyai, Educatio Artis Gymnasticae, 60(1)
* Patrascu M., 2015. Genetically enhanced modal controller design for seismic vibration in nonlinear multi-damper configuration. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 229(2), pp.158-168
* Prodan I., Stoican F. and Zio E., 2015. On a fault tolerant strategy for efficient energy management in microgrid systems. IFAC-PapersOnLine, 48(23), pp.458-463
* Stoican F., Grøtli E.I., Prodan I. and Oară C., 2015. On corner cutting in multi-obstacle avoidance problems. IFAC-PapersOnLine, 48(23), pp.185-190
* Prodan I., Zio E. and Stoican F., 2015. Fault tolerant predictive control design for reliable microgrid energy management under uncertainties. Energy, 91, pp.20-34
* Prodan I., Stoican F., Olaru S. and Niculescu S.I., 2015. Mixed-integer representations in control design: Mathematical foundations and applications. Springer
* Xu F., Puig V., Ocampo-Martinez C., Olaru S. and Stoican F., 2015. Set-theoretic methods in robust detection and isolation of sensor faults. International Journal of Systems Science, 46(13), pp.2317-2334
* Stoican F., Oară C. and Hovd M., 2015. RPI approximations of the mRPI set characterizing linear dynamics with zonotopic disturbances. In Developments in Model-Based Optimization and Control (pp. 361-377). Springer, Cham
2014
* Patrascu M., Dragoicea M. and Ion A., 2014, October. Emergent intelligence in agents: A scalable architecture for smart cities. In System Theory, Control and Computing (ICSTCC), 2014 18th International Conference (pp. 181-186). IEEE
* Pătraşcu A., Patrascu M. and Hantiu I., 2014, October. Nonlinear fuzzy control of human heart rate during aerobic endurance training with respect to significant model variations. In System Theory, Control and Computing (ICSTCC), 2014 18th International Conference (pp. 311-316). IEEE
* Dragoicea M., Patrascu M. and Serea G.A., 2014, October. Real time agent based simulation for smart city emergency protocols. In System Theory, Control and Computing (ICSTCC), 2014 18th International Conference (pp. 187-192). IEEE
* Stoican F., Prodan I., Strutu M.I. and Popescu D., 2014, October. Geometrical interpretation on the coverage problems for a mobile agent. In System Theory, Control and Computing (ICSTCC), 2014 18th International Conference (pp. 785-790). IEEE
* Necoara I., Stoican F., Clipici D., Patrascu A. and Hovd M., 2014, October. A linear MPC algorithm for embedded systems with computational complexity guarantees. In System Theory, Control and Computing (ICSTCC), 2014 18th International Conference (pp. 363-368). IEEE
* Pătraşcu M. and Drăgoicea M., 2014. Integrating agents and services for control and monitoring: managing emergencies in smart buildings. In Service Orientation in Holonic and Multi-Agent Manufacturing and Robotics (pp. 209-224). Springer, Cham
* Prodan I., Stoican F., Olaru S., Stoica C. and Niculescu S.I., 2014. Mixed-integer programming techniques in distributed MPC problems. In Distributed Model Predictive Control Made Easy (pp. 275-291). Springer, Dordrecht
* Patrascu M., Stancu A.F. and Pop F., 2014. HELGA: a heterogeneous encoding lifelike genetic algorithm for population evolution modeling and simulation. Soft Computing, 18(12), pp.2565-2576
* Stoican F., Olaru S., Seron M.M. and De Doná J.A., 2014. A fault tolerant control scheme based on sensor–actuation channel switching and dwell time. International Journal of Robust and Nonlinear Control, 24(4), pp.775-792
* Xu F., Puig V., Ocampo-Martinez C., Stoican F. and Olaru S., 2014. Actuator-fault detection and isolation based on set-theoretic approaches. Journal of Process Control, 24(6), pp.947-956
* Stoican F., Olaru S., De Doná J.A. and Seron M.M., 2014. A discussion on sensor recovery techniques for fault tolerant multisensor schemes. International Journal of Systems Science, 45(8), pp.1708-1722
* Hovd M. and Stoican F., 2014. On the design of exact penalty functions for MPC using mixed integer programming. Computers & Chemical Engineering, 70, pp.104-113
* Xu F., Puig V., Ocampo-Martinez C., Stoican F. and Olaru S., 2014. Improved actuator-fault detection and isolation strategy using interval observers and invariant sets. International Federation of Automatic Control
* Xu F., Puig V., Ocampo-Martinez C., Stoican F. and Olaru S., 2014. Closed-loop actuator-fault detection and isolation using set tubes and invariant sets. International Federation of Automatic Control
2013
* Xu F., Puig V., Ocampo-Martinez C., Stoican F. and Olaru S., 2013, December. Actuator-fault detection and isolation based on interval observers and invariant sets. In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on (pp. 4385-4390). IEEE
* Stoican F., Hovd M. and Olaru S., 2013, December. Explicit invariant approximation of the mRPI set for LTI dynamics with zonotopic disturbances. In Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on (pp. 3237-3242). IEEE
* Xu F., Puig V., Ocampo-Martinez C., Stoican F. and Olaru S., 2013, October. Sensor-fault detection and Isolation using Interval Observers. In Control and Fault-Tolerant Systems (SysTol), 2013 Conference on (pp. 55-60). IEEE
* Xu F., Stoican F., Puig V., Ocampo-Martinez C. and Olaru S., 2013, October. On the relationship between interval observers and invariant sets in fault detection. In Control and Fault-Tolerant Systems (SysTol), 2013 Conference on (pp. 49-54). IEEE
* Stoican F., Prodan I. and Olaru S., 2013, July. Hyperplane arrangements in mixed-integer programming techniques. Collision avoidance application with zonotopic sets. In Control Conference (ECC), 2013 European (pp. 3155-3160). IEEE
* Strutu M.I., Stoican F., Prodan I., Popescu D. and Olaru S., 2013, June. A characterization of the relative positioning of mobile agents for full sensorial coverage in an augmented space with obstacles. In Control & Automation (MED), 2013 21st Mediterranean Conference on (pp. 936-941). IEEE
* Xu F., Stoican F., Puig V., Ocampo-Martinez C. and Olaru S., 2013, June. Fault detection and isolation based on the combination of a bank of interval observers and invariant sets. In Control & Automation (MED), 2013 21st Mediterranean Conference on (pp. 807-813). IEEE
* Drăgoicea M., Bucur L. and Pătraşcu M., 2013, February. A service oriented simulation architecture for intelligent building management. In International Conference on Exploring Services Science (pp. 14-28). Springer, Berlin, Heidelberg
* Pătraşcu M., 2013. Artificial Intelligence-Lecture Notes. Department of Automatic Control and Systems Engineering, University Politehnica of Bucharest
* Stoican F. and Olaru S., 2013. Set-theoretic Fault-tolerant Control in Multisensor Systems. John Wiley & Sons
* Stoican, F., Olaru, S. and Bitsoris, G., 2013. Controlled invariance-based fault detection for multisensory control systems. IET Control Theory & Applications, 7(4), pp.606-611
2012
* Drăgoicea M., Pătraşcu M. and Bucur L., 2012, October. Service Orientation For Intelligent Building Management: an IOT and IOS Perspective. In UNITE 2nd Doctoral Symposium, R & D in Future Internet and Enterprise Interoperability, Sofia, Bulgaria (pp. 79-86)
* Patrascu M. and Dumitrache I., 2012, September. Hybrid geno-fuzzy controller for seismic vibration control. In Control (CONTROL), 2012 UKACC International Conference on (pp. 52-57). IEEE
* Hanchevici A.B., Patrascu M. and Dumitrache I., 2012. A hybrid PID-fuzzy control for linear SISO systems with variant communication delays. Advances in Fuzzy Systems, 2012, p.1
* Pătraşcu M., Dumitrache I. and Pătruţ P., 2012. A comparative study for advanced seismic vibration control algorithms. UPB Sci. Bull., Series C, 74(4), pp.3-16
2011
* Patrascu M., Hanchevici A.B. and Dumitrache I., 2011, January. Tuning of PID controllers for non-linear MIMO systems using genetic algorithms. In Proceedings of the 18th IFAC Congress (pp. 12644-12649). Milano, Italy Milano, Italy
* Patrascu M., 2011. Advanced Techniques for Seismic Vibration Control (Doctoral dissertation, PhD Thesis, University Politehnica of Bucharest, Faculty of Automatic Control and Computers)
* Pătraşcu M. and Hanchevici A.B., 2011. Sisteme avansate de conducere: îndrumar de laborator. Politehnica Press
* Buiu C., Arsene O., Cipu C. and Patrascu M., 2011. A software tool for modeling and simulation of numerical P systems. BioSystems, 103(3), pp.442-447